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A grid system connects a huge number of computers in the Internet. It integrates the distributed computational resources and data resources. A complex grid system needs to have a characteristic of self-managing. Autonomic computing aims to overcome the rapidly growing complexity of computing system management. It can be implemented to manage complex computing resources in grid systems. We present a domain based two-layer autonomic management model. In the model, autonomic nodes manage grid resources in their domain. The autonomic nodes use a two-layer overlay to configure the node connectivity. They get updated global information and make an efficient tasks distribution.